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- Title
Optimal design of hand-carrying rocker-bogie mechanism for stair climbing.
- Authors
Hong, Hee; Seo, TaeWon; Kim, Dongmok; Kim, Sunho; Kim, Jongwon
- Abstract
Transporting heavy packages while climbing stairs can be a very difficult or dangerous task. In situations where this task is frequently required such as construction sites, workers would use equipment such as a back rack for convenience, but still it becomes a difficult task as the weight increases. In this paper, we propose a stair climbing hand-carrying cart based on the rocker-bogie mechanism. We conduct an optimal design of the kinematic variables of the rocker-bogie mechanism for stable stair climbing using Taguchi methodology. Fluctuations and a tilted angle during stair climbing are considered to formulate the objective function. Three different shapes of typical stairs are selected as user conditions to determine a robust optimal solution. The results are verified by experiments using a testing set-up of three stair profiles, and the experimental results are compared with simulation. We expect that the results of this research can be applied to stair climbing robot design.
- Subjects
OPTIMAL designs (Statistics); SUSPENSION of railroad cars; STAIR climbing; KINEMATICS; ROBOT design &; construction; TAGUCHI methods
- Publication
Journal of Mechanical Science & Technology, 2013, Vol 27, Issue 1, p125
- ISSN
1738-494X
- Publication type
Article
- DOI
10.1007/s12206-012-1212-y